Topic outline

  • Control of an inverted pendulum

    LAB INSTRUCTIONS

    • In this lab, you will be modeling the state-space representation of an inverted pendulum and then using that to design a feedback loop controller for the pendulum's balance control. Some demos on the swing-up control of the pendulum will be shown in the end. 
    • Each group will have one lab session of 1 hour in the "Opetuslaboratorio", Room 3549, 3rd floor Tuas building. Due to the corona situation, face-to-face pre-hearing sessions will not be held. Instead, pre-lab questions are then required to be submitted to Mycourses at least 1 day prior to the lab session and need to be approved. Only one submission per group is enough.
    • Materials for this lab are available in the "Materials for inverted pendulum control lab" folder. Please read the "Lab instructions" carefully before answering the pre-lab questions.

    COVID INSTRUCTIONS

    • This lab will be conducted in person. During the lab, a maximum of 4 students plus the instructor will be present in the lab room. For this reason, it will be crucial that precautions against the spread of coronavirus are taken. These include proper hand hygiene, the use of face masks, and maintaining proper distances while performing the lab. Students who don't comply with these rules will be asked to leave and will fail the lab.
    • If you experience any symptoms or have been in close contact with a person who has tested positive in the 10 days before the day you have to attend the lab, or if you have a medical condition or other reason which prevents you from using a mask, you have to contact the lab instructor and the lab teachers, we will instruct you on how to proceed.


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Control of a DC motor
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Sensor fusion with Kalman filter